Input Parameters.
The voxel grid is defined by a range and voxel size in 3D space. On KITTI [1]}, we use \([2, 46.8] \times [-30.08, 30.08] \times [-3, 1]\)  () for the range and \([0.16, 0.16, 0.16]\)  () for the voxel size for the \(x\) , \(y\) , and \(z\)  axes respectively. On Waymo, we use \([2, 55.76] \times [-25.6, 25.6] \times [-4, 4]\)  () for the range and \([0.16, 0.16, 0.16]\)  () for the voxel size. Additionally, we downsample Waymo images to 1248 \(\times \)  832.
